1

/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    15

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

 *  You should have received a copy of the GNU General Public License

    20

 *  along with the IgH EtherCAT Master; if not, write to the Free Software

    21

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

 *****************************************************************************/

    33

    34

/**

    35

   \file

    36

   CANopen-over-EtherCAT Sdo entry functions.

    37

*/

    38

    39

/*****************************************************************************/

    40

    41

#include <linux/module.h>

    42

    43

#include "sdo.h"

    44

#include "sdo_request.h"

    45

#include "master.h"

    46

    47

#include "sdo_entry.h"

    48

    49

/*****************************************************************************/

    50

    51

ssize_t ec_show_sdo_entry_attribute(struct kobject *, struct attribute *,

    52

                                    char *);

    53

void ec_sdo_entry_clear(struct kobject *);

    54

    55

/*****************************************************************************/

    56

    57

/** \cond */

    58

    59

EC_SYSFS_READ_ATTR(info);

    60

EC_SYSFS_READ_ATTR(value);

    61

    62

static struct attribute *sdo_entry_def_attrs[] = {

    63

    &attr_info,

    64

    &attr_value,

    65

    NULL,

    66

};

    67

    68

static struct sysfs_ops sdo_entry_sysfs_ops = {

    69

    .show = &ec_show_sdo_entry_attribute,

    70

    .store = NULL

    71

};

    72

    73

static struct kobj_type ktype_ec_sdo_entry = {

    74

    .release = ec_sdo_entry_clear,

    75

    .sysfs_ops = &sdo_entry_sysfs_ops,

    76

    .default_attrs = sdo_entry_def_attrs

    77

};

    78

    79

/** \endcond */

    80

    81

/*****************************************************************************/

    82

    83

/** Sdo entry constructor.

    84

 *

    85

 * \todo Turn parameters.

    86

 */

    87

int ec_sdo_entry_init(

    88

        ec_sdo_entry_t *entry, /**< Sdo entry. */

    89

        uint8_t subindex, /**< Subindex. */

    90

        ec_sdo_t *sdo /**< Parent Sdo. */

    91

        )

    92

{

    93

    entry->sdo = sdo;

    94

    entry->subindex = subindex;

    95

    entry->data_type = 0x0000;

    96

    entry->bit_length = 0;

    97

    entry->description = NULL;

    98

    99

    // Init kobject and add it to the hierarchy

   100

    memset(&entry->kobj, 0x00, sizeof(struct kobject));

   101

    kobject_init(&entry->kobj);

   102

    entry->kobj.ktype = &ktype_ec_sdo_entry;

   103

    entry->kobj.parent = &sdo->kobj;

   104

    if (kobject_set_name(&entry->kobj, "%02X", entry->subindex)) {

   105

        EC_ERR("Failed to set kobj name.\n");

   106

        kobject_put(&entry->kobj);

   107

        return -1;

   108

    }

   109

    if (kobject_add(&entry->kobj)) {

   110

        EC_ERR("Failed to add entry kobject.\n");

   111

        kobject_put(&entry->kobj);

   112

        return -1;

   113

    }

   114

   115

    return 0;

   116

}

   117

   118

/*****************************************************************************/

   119

   120

/** Sdo entry destructor.

   121

 *

   122

 * Clears and frees an Sdo entry object.

   123

 */

   124

void ec_sdo_entry_destroy(

   125

        ec_sdo_entry_t *entry /**< Sdo entry. */

   126

        )

   127

{

   128

    // destroy self

   129

    kobject_del(&entry->kobj);

   130

    kobject_put(&entry->kobj);

   131

}

   132

   133

/*****************************************************************************/

   134

   135

/** Clear and free the Sdo entry.

   136

 *

   137

 * This method is called by the kobject,

   138

 * once there are no more references to it.

   139

 */

   140

void ec_sdo_entry_clear(

   141

        struct kobject *kobj /**< Sdo entry's kobject. */

   142

        )

   143

{

   144

    ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);

   145

   146

    if (entry->description) kfree(entry->description);

   147

   148

    kfree(entry);

   149

}

   150

   151

/*****************************************************************************/

   152

   153

/** Print Sdo entry information to a buffer.

   154

 * 

   155

 * \return Number of bytes written.

   156

 */

   157

ssize_t ec_sdo_entry_info(

   158

        ec_sdo_entry_t *entry, /**< Sdo entry. */

   159

        char *buffer /**< Target buffer. */

   160

        )

   161

{

   162

    off_t off = 0;

   163

   164

    off += sprintf(buffer + off, "Subindex: 0x%02X\n", entry->subindex);

   165

    off += sprintf(buffer + off, "Description: %s\n",

   166

                   entry->description ? entry->description : "");

   167

    off += sprintf(buffer + off, "Data type: 0x%04X\n", entry->data_type);

   168

    off += sprintf(buffer + off, "Bit length: %i\n", entry->bit_length);

   169

   170

    return off;

   171

}

   172

   173

/*****************************************************************************/

   174

   175

/** Format entry data based on the CANopen data type and print it to a buffer.

   176

 *

   177

 * \return number of bytes written.

   178

 */

   179

ssize_t ec_sdo_entry_format_data(

   180

        ec_sdo_entry_t *entry, /**< Sdo entry. */

   181

        ec_sdo_request_t *request, /**< Sdo request. */

   182

        char *buffer /**< Target buffer. */

   183

        )

   184

{

   185

    off_t off = 0;

   186

    unsigned int i;

   187

   197

    if (entry->data_type == 0x0002) { // int8

   198

        int8_t value;

   199

        if (entry->bit_length != 8)

   200

            goto not_fit;

   201

        value = EC_READ_S8(request->data);

   202

        off += sprintf(buffer + off, "%i (0x%02X)\n", value, value);

   203

    }

   204

    else if (entry->data_type == 0x0003) { // int16

   205

        int16_t value;

   206

        if (entry->bit_length != 16)

   207

            goto not_fit;

   208

        value = EC_READ_S16(request->data);

   209

        off += sprintf(buffer + off, "%i (0x%04X)\n", value, value);

   210

    }

   211

    else if (entry->data_type == 0x0004) { // int32

   212

        int32_t value;

   213

        if (entry->bit_length != 32)

   214

            goto not_fit;

   215

        value = EC_READ_S16(request->data);

   216

        off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);

   217

    }

   218

    else if (entry->data_type == 0x0005) { // uint8

   219

        uint8_t value;

   220

        if (entry->bit_length != 8)

   221

            goto not_fit;

   222

        value = EC_READ_U8(request->data);

   223

        off += sprintf(buffer + off, "%u (0x%02X)\n", value, value);

   224

    }

   225

    else if (entry->data_type == 0x0006) { // uint16

   226

        uint16_t value;

   227

        if (entry->bit_length != 16)

   228

            goto not_fit;

   229

        value = EC_READ_U16(request->data); 

   230

        off += sprintf(buffer + off, "%u (0x%04X)\n", value, value);

   231

    }

   232

    else if (entry->data_type == 0x0007) { // uint32

   233

        uint32_t value;

   234

        if (entry->bit_length != 32)

   235

            goto not_fit;

   236

        value = EC_READ_U32(request->data);

   237

        off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);

   238

    }

   239

    else if (entry->data_type == 0x0009) { // string

   240

        off += sprintf(buffer + off, "%s\n", request->data);

   241

    }

   242

    else {

   243

        off += sprintf(buffer + off, "Unknown data type %04X. Data:\n",

   244

                entry->data_type);

   245

        goto raw_data;

   246

    }

   247

    return off;

   248

   249

not_fit:

   250

    off += sprintf(buffer + off,

   251

            "Invalid bit length %u for data type 0x%04X. Data:\n",

   252

            entry->bit_length, entry->data_type);

   253

raw_data:

   254

    for (i = 0; i < request->data_size; i++)

   255

        off += sprintf(buffer + off, "%02X (%c)\n",

   256

                request->data[i], request->data[i]);

   257

    return off;

   258

}

   259

   260

/*****************************************************************************/

   261

   262

/** Start blocking Sdo entry reading.

   263

 *

   264

 * This function blocks, until reading is finished, and is interruptible as

   265

 * long as the master state machine has not begun with reading.

   266

 *

   267

 * \return number of bytes written to buffer, or error code.

   268

 */

   269

ssize_t ec_sdo_entry_read_value(

   270

        ec_sdo_entry_t *entry, /**< Sdo entry. */

   271

        char *buffer /**< Target buffer. */

   272

        )

   273

{

   274

    ec_master_t *master = entry->sdo->slave->master;

   275

    off_t off = 0;

   276

    ec_master_sdo_request_t request;

   277

   278

    request.slave = entry->sdo->slave;

   279

    ec_sdo_request_init(&request.req);

   280

    ec_sdo_request_address(&request.req, entry->sdo->index, entry->subindex);

   281

    ecrt_sdo_request_read(&request.req);

   282

   283

    // schedule request.

   284

    down(&master->sdo_sem);

   285

    list_add_tail(&request.list, &master->slave_sdo_requests);

   286

    up(&master->sdo_sem);

   287

   288

    // wait for processing through FSM

   289

    if (wait_event_interruptible(master->sdo_queue,

   290

                request.req.state != EC_REQUEST_QUEUED)) {

   291

        // interrupted by signal

   292

        down(&master->sdo_sem);

   293

        if (request.req.state == EC_REQUEST_QUEUED) {

   294

            list_del(&request.req.list);

   295

            up(&master->sdo_sem);

   296

            return -EINTR;

   297

        }

   298

        // request already processing: interrupt not possible.

   299

        up(&master->sdo_sem);

   300

    }

   301

   302

    // wait until master FSM has finished processing

   303

    wait_event(master->sdo_queue, request.req.state != EC_REQUEST_BUSY);

   304

   305

    if (request.req.state != EC_REQUEST_SUCCESS)

   306

        return -EIO;

   307

   308

    off += ec_sdo_entry_format_data(entry, &request.req, buffer);

   309

   310

    ec_sdo_request_clear(&request.req);

   311

    return off;

   312

}

   313

   314

/*****************************************************************************/

   315

   316

/** Show the Sysfs attribute of an Sdo entry.

   317

 *

   318

 * /return Number of bytes written to buffer.

   319

 */ 

   320

ssize_t ec_show_sdo_entry_attribute(

   321

        struct kobject *kobj, /**< kobject. */

   322

        struct attribute *attr, /**< Sysfs attribute. */

   323

        char *buffer /**< Target buffer. */

   324

        )

   325

{

   326

    ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);

   327

   328

    if (attr == &attr_info) {

   329

        return ec_sdo_entry_info(entry, buffer);

   330

    }

   331

    else if (attr == &attr_value) {

   332

        return ec_sdo_entry_read_value(entry, buffer);

   333

    }

   334

   335

    return 0;

   336

}

   337

   338

/*****************************************************************************/